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<div class="title">brute_force.hpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2011, Willow Garage, Inc.</span></div>
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<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
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<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
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<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
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<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#ifndef PCL_SEARCH_IMPL_BRUTE_FORCE_SEARCH_H_</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#define PCL_SEARCH_IMPL_BRUTE_FORCE_SEARCH_H_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &lt;pcl/search/brute_force.h&gt;</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;queue&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">float</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<a class="code" href="classpcl_1_1search_1_1_brute_force.html">pcl::search::BruteForce&lt;PointT&gt;::getDistSqr</a> (</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;    <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; point1, <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; point2)<span class="keyword"> const</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  <span class="keywordflow">return</span> (point1.getVector3fMap () - point2.getVector3fMap ()).squaredNorm ();</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;}</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160; </div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">int</span></div>
<div class="line"><a name="l00054"></a><span class="lineno"><a class="line" href="classpcl_1_1search_1_1_brute_force.html#aff738c5ddff30148a11b0eef6d8eed63">   54</a></span>&#160;<a class="code" href="classpcl_1_1search_1_1_brute_force.html#aff738c5ddff30148a11b0eef6d8eed63">pcl::search::BruteForce&lt;PointT&gt;::nearestKSearch</a> (</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; point, <span class="keywordtype">int</span> k, std::vector&lt;int&gt;&amp; k_indices, std::vector&lt;float&gt;&amp; k_distances)<span class="keyword"> const</span></div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  assert (isFinite (point) &amp;&amp; <span class="stringliteral">&quot;Invalid (NaN, Inf) point coordinates given to nearestKSearch!&quot;</span>);</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  </div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  k_indices.clear ();</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  k_distances.clear ();</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  <span class="keywordflow">if</span> (k &lt; 1)</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    <span class="keywordflow">return</span> 0;</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160; </div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  <span class="keywordflow">if</span> (input_-&gt;is_dense)</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    <span class="keywordflow">return</span> denseKSearch (point, k, k_indices, k_distances);</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;    <span class="keywordflow">return</span> sparseKSearch (point, k, k_indices, k_distances);</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;}</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160; </div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">int</span></div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;<a class="code" href="classpcl_1_1search_1_1_brute_force.html">pcl::search::BruteForce&lt;PointT&gt;::denseKSearch</a> (</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;    <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;point, <span class="keywordtype">int</span> k, std::vector&lt;int&gt; &amp;k_indices, std::vector&lt;float&gt; &amp;k_distances)<span class="keyword"> const</span></div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;  <span class="comment">// container for first k elements -&gt; O(1) for insertion, since order not required here</span></div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;  std::vector&lt;Entry&gt; result;</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;  result.reserve (k);</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  std::priority_queue&lt;Entry&gt; queue;</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;  <span class="keywordflow">if</span> (indices_ != NULL)</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  {</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;    std::vector&lt;int&gt;::const_iterator iIt =indices_-&gt;begin ();</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    std::vector&lt;int&gt;::const_iterator iEnd = indices_-&gt;begin () + std::min (<span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span><span class="keyword">&gt;</span> (k), <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span><span class="keyword">&gt;</span> (indices_-&gt;size ()));</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;    <span class="keywordflow">for</span> (; iIt != iEnd; ++iIt)</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;      result.push_back (Entry (*iIt, getDistSqr (input_-&gt;points[*iIt], point)));</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160; </div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;    queue = std::priority_queue&lt;Entry&gt; (result.begin (), result.end ());</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160; </div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;    <span class="comment">// add the rest</span></div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;    Entry entry;</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;    <span class="keywordflow">for</span> (; iIt != indices_-&gt;end (); ++iIt)</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;    {</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;      entry.distance = getDistSqr (input_-&gt;points[*iIt], point);</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;      <span class="keywordflow">if</span> (queue.top ().distance &gt; entry.distance)</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;      {</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;        entry.index = *iIt;</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;        queue.pop ();</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;        queue.push (entry);</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;      }</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;    }</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;  }</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;  {</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;    Entry entry;</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;    <span class="keywordflow">for</span> (entry.index = 0; entry.index &lt; std::min (<span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span><span class="keyword">&gt;</span> (k), <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span><span class="keyword">&gt;</span> (input_-&gt;size ())); ++entry.index)</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;    {</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;      entry.distance = getDistSqr (input_-&gt;points[entry.index], point);</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;      result.push_back (entry);</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;    }</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160; </div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;    queue = std::priority_queue&lt;Entry&gt; (result.begin (), result.end ());</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160; </div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;    <span class="comment">// add the rest</span></div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;    <span class="keywordflow">for</span> (; entry.index &lt; input_-&gt;size (); ++entry.index)</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;    {</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;      entry.distance = getDistSqr (input_-&gt;points[entry.index], point);</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;      <span class="keywordflow">if</span> (queue.top ().distance &gt; entry.distance)</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;      {</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;        queue.pop ();</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;        queue.push (entry);</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;      }      </div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;    }</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;  }</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160; </div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;  k_indices.resize (queue.size ());</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;  k_distances.resize (queue.size ());</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;  <span class="keywordtype">size_t</span> idx = queue.size () - 1;</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;  <span class="keywordflow">while</span> (!queue.empty ())</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;  {</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;    k_indices [idx] = queue.top ().index;</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;    k_distances [idx] = queue.top ().distance;</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;    queue.pop ();</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;    --idx;</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;  }</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;  </div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (k_indices.size ()));</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;}</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160; </div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">int</span></div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;<a class="code" href="classpcl_1_1search_1_1_brute_force.html">pcl::search::BruteForce&lt;PointT&gt;::sparseKSearch</a> (</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;    <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;point, <span class="keywordtype">int</span> k, std::vector&lt;int&gt; &amp;k_indices, std::vector&lt;float&gt; &amp;k_distances)<span class="keyword"> const</span></div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;  <span class="comment">// result used to collect the first k neighbors -&gt; unordered</span></div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;  std::vector&lt;Entry&gt; result;</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;  result.reserve (k);</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;  </div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;  std::priority_queue&lt;Entry&gt; queue;</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;  <span class="keywordflow">if</span> (indices_ != NULL)</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;  {</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;    std::vector&lt;int&gt;::const_iterator iIt =indices_-&gt;begin ();</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;    <span class="keywordflow">for</span> (; iIt != indices_-&gt;end () &amp;&amp; result.size () &lt; <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span><span class="keyword">&gt;</span> (k); ++iIt)</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;    {</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;      <span class="keywordflow">if</span> (pcl_isfinite (input_-&gt;points[*iIt].x))</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;        result.push_back (Entry (*iIt, getDistSqr (input_-&gt;points[*iIt], point)));</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;    }</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;    </div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;    queue = std::priority_queue&lt;Entry&gt; (result.begin (), result.end ());</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160; </div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;    <span class="comment">// either we have k elements, or there are none left to iterate &gt;in either case we&#39;re fine</span></div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;    <span class="comment">// add the rest</span></div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;    Entry entry;</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;    <span class="keywordflow">for</span> (; iIt != indices_-&gt;end (); ++iIt)</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;    {</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;      <span class="keywordflow">if</span> (!pcl_isfinite (input_-&gt;points[*iIt].x))</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;        <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160; </div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;      entry.distance = getDistSqr (input_-&gt;points[*iIt], point);</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;      <span class="keywordflow">if</span> (queue.top ().distance &gt; entry.distance)</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;      {</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;        entry.index = *iIt;</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;        queue.pop ();</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;        queue.push (entry);</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;      }</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;    }</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;  }</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;  {</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;    Entry entry;</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;    <span class="keywordflow">for</span> (entry.index = 0; entry.index &lt; input_-&gt;size () &amp;&amp; result.size () &lt; <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span><span class="keyword">&gt;</span> (k); ++entry.index)</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;    {</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;      <span class="keywordflow">if</span> (pcl_isfinite (input_-&gt;points[entry.index].x))</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;      {</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;        entry.distance = getDistSqr (input_-&gt;points[entry.index], point);</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;        result.push_back (entry);</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;      }</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;    }</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;    queue = std::priority_queue&lt;Entry&gt; (result.begin (), result.end ());</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;    </div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;    <span class="comment">// add the rest</span></div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;    <span class="keywordflow">for</span> (; entry.index &lt; input_-&gt;size (); ++entry.index)</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;    {</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;      <span class="keywordflow">if</span> (!pcl_isfinite (input_-&gt;points[entry.index].x))</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;        <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160; </div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;      entry.distance = getDistSqr (input_-&gt;points[entry.index], point);</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;      <span class="keywordflow">if</span> (queue.top ().distance &gt; entry.distance)</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;      {</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;        queue.pop ();</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;        queue.push (entry);</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;      }</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;    }</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;  }</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;  </div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;  k_indices.resize (queue.size ());</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;  k_distances.resize (queue.size ());</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;  <span class="keywordtype">size_t</span> idx = queue.size () - 1;</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;  <span class="keywordflow">while</span> (!queue.empty ())</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;  {</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;    k_indices [idx] = queue.top ().index;</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;    k_distances [idx] = queue.top ().distance;</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;    queue.pop ();</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;    --idx;</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;  }</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (k_indices.size ()));</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;}</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160; </div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">int</span></div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;<a class="code" href="classpcl_1_1search_1_1_brute_force.html">pcl::search::BruteForce&lt;PointT&gt;::denseRadiusSearch</a> (</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;    <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; point, <span class="keywordtype">double</span> radius,</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;    std::vector&lt;int&gt; &amp;k_indices, std::vector&lt;float&gt; &amp;k_sqr_distances,</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;    <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> max_nn)<span class="keyword"> const</span></div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;<span class="keyword"></span>{  </div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;  radius *= radius;</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160; </div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;  <span class="keywordtype">size_t</span> reserve = max_nn;</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;  <span class="keywordflow">if</span> (reserve == 0)</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;  {</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;    <span class="keywordflow">if</span> (indices_ != NULL)</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;      reserve = std::min (indices_-&gt;size (), input_-&gt;size ());</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;      reserve = input_-&gt;size ();</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;  }</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;  k_indices.reserve (reserve);</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;  k_sqr_distances.reserve (reserve);</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;  <span class="keywordtype">float</span> <a class="code" href="common_2include_2pcl_2common_2geometry_8h.html#a2fc89f0c26b7c7377fcd2851fa933b87">distance</a>;</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;  <span class="keywordflow">if</span> (indices_ != NULL)</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;  {</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;    <span class="keywordflow">for</span> (std::vector&lt;int&gt;::const_iterator iIt =indices_-&gt;begin (); iIt != indices_-&gt;end (); ++iIt)</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;    {</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;      <a class="code" href="common_2include_2pcl_2common_2geometry_8h.html#a2fc89f0c26b7c7377fcd2851fa933b87">distance</a> = getDistSqr (input_-&gt;points[*iIt], point);</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;      <span class="keywordflow">if</span> (distance &lt;= radius)</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;      {</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;        k_indices.push_back (*iIt);</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;        k_sqr_distances.push_back (distance);</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;        <span class="keywordflow">if</span> (k_indices.size () == max_nn) <span class="comment">// max_nn = 0 -&gt; never true</span></div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;          <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;      }</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;    }</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;  }</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;  {</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> index = 0; index &lt; input_-&gt;size (); ++index)</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;    {</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;      <a class="code" href="common_2include_2pcl_2common_2geometry_8h.html#a2fc89f0c26b7c7377fcd2851fa933b87">distance</a> = getDistSqr (input_-&gt;points[index], point);</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;      <span class="keywordflow">if</span> (distance &lt;= radius)</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;      {</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;        k_indices.push_back (index);</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;        k_sqr_distances.push_back (distance);</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;        <span class="keywordflow">if</span> (k_indices.size () == max_nn) <span class="comment">// never true if max_nn = 0</span></div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;          <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;      }</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;    }</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;  }</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160; </div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;  <span class="keywordflow">if</span> (sorted_results_)</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;    this-&gt;sortResults (k_indices, k_sqr_distances);</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;  </div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (k_indices.size ()));</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;}</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160; </div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">int</span></div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;<a class="code" href="classpcl_1_1search_1_1_brute_force.html">pcl::search::BruteForce&lt;PointT&gt;::sparseRadiusSearch</a> (</div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;    <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; point, <span class="keywordtype">double</span> radius,</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;    std::vector&lt;int&gt; &amp;k_indices, std::vector&lt;float&gt; &amp;k_sqr_distances,</div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;    <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> max_nn)<span class="keyword"> const</span></div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;  radius *= radius;</div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160; </div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;  <span class="keywordtype">size_t</span> reserve = max_nn;</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;  <span class="keywordflow">if</span> (reserve == 0)</div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;  {</div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;    <span class="keywordflow">if</span> (indices_ != NULL)</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;      reserve = std::min (indices_-&gt;size (), input_-&gt;size ());</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;      reserve = input_-&gt;size ();</div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;  }</div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;  k_indices.reserve (reserve);</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;  k_sqr_distances.reserve (reserve);</div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160; </div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;  <span class="keywordtype">float</span> <a class="code" href="common_2include_2pcl_2common_2geometry_8h.html#a2fc89f0c26b7c7377fcd2851fa933b87">distance</a>;</div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;  <span class="keywordflow">if</span> (indices_ != NULL)</div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;  {</div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;    <span class="keywordflow">for</span> (std::vector&lt;int&gt;::const_iterator iIt =indices_-&gt;begin (); iIt != indices_-&gt;end (); ++iIt)</div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;    {</div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;      <span class="keywordflow">if</span> (!pcl_isfinite (input_-&gt;points[*iIt].x))</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;        <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160; </div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;      <a class="code" href="common_2include_2pcl_2common_2geometry_8h.html#a2fc89f0c26b7c7377fcd2851fa933b87">distance</a> = getDistSqr (input_-&gt;points[*iIt], point);</div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;      <span class="keywordflow">if</span> (distance &lt;= radius)</div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;      {</div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;        k_indices.push_back (*iIt);</div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;        k_sqr_distances.push_back (distance);</div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;        <span class="keywordflow">if</span> (k_indices.size () == max_nn) <span class="comment">// never true if max_nn = 0</span></div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;          <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;      }</div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;    }</div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;  }</div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;  {</div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> index = 0; index &lt; input_-&gt;size (); ++index)</div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;    {</div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;      <span class="keywordflow">if</span> (!pcl_isfinite (input_-&gt;points[index].x))</div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;        <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;      <a class="code" href="common_2include_2pcl_2common_2geometry_8h.html#a2fc89f0c26b7c7377fcd2851fa933b87">distance</a> = getDistSqr (input_-&gt;points[index], point);</div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;      <span class="keywordflow">if</span> (distance &lt;= radius)</div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;      {</div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;        k_indices.push_back (index);</div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;        k_sqr_distances.push_back (distance);</div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;        <span class="keywordflow">if</span> (k_indices.size () == max_nn) <span class="comment">// never true if max_nn = 0</span></div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;          <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;      }</div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;    }</div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;  }</div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160; </div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;  <span class="keywordflow">if</span> (sorted_results_)</div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;    this-&gt;sortResults (k_indices, k_sqr_distances);</div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160; </div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (k_indices.size ()));</div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;}</div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160; </div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">int</span></div>
<div class="line"><a name="l00335"></a><span class="lineno"><a class="line" href="classpcl_1_1search_1_1_brute_force.html#a78513e310fd524d01781ccf20a45e736">  335</a></span>&#160;<a class="code" href="classpcl_1_1search_1_1_brute_force.html#a78513e310fd524d01781ccf20a45e736">pcl::search::BruteForce&lt;PointT&gt;::radiusSearch</a> (</div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;    <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; point, <span class="keywordtype">double</span> radius, std::vector&lt;int&gt; &amp;k_indices,</div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;    std::vector&lt;float&gt; &amp;k_sqr_distances, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> max_nn)<span class="keyword"> const</span></div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;  assert (isFinite (point) &amp;&amp; <span class="stringliteral">&quot;Invalid (NaN, Inf) point coordinates given to nearestKSearch!&quot;</span>);</div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;  </div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;  k_indices.clear ();</div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;  k_sqr_distances.clear ();</div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;  <span class="keywordflow">if</span> (radius &lt;= 0)</div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;    <span class="keywordflow">return</span> 0;</div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160; </div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;  <span class="keywordflow">if</span> (input_-&gt;is_dense)</div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;    <span class="keywordflow">return</span> denseRadiusSearch (point, radius, k_indices, k_sqr_distances, max_nn);</div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;    <span class="keywordflow">return</span> sparseRadiusSearch (point, radius, k_indices, k_sqr_distances, max_nn);</div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;}</div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160; </div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;<span class="preprocessor">#define PCL_INSTANTIATE_BruteForce(T) template class PCL_EXPORTS pcl::search::BruteForce&lt;T&gt;;</span></div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160; </div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;<span class="preprocessor">#endif </span><span class="comment">//PCL_SEARCH_IMPL_BRUTE_FORCE_SEARCH_H_</span></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_brute_force_html"><div class="ttname"><a href="classpcl_1_1search_1_1_brute_force.html">pcl::search::BruteForce</a></div><div class="ttdoc">Implementation of a simple brute force search algorithm.</div><div class="ttdef"><b>Definition:</b> brute_force.h:53</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_brute_force_html_a78513e310fd524d01781ccf20a45e736"><div class="ttname"><a href="classpcl_1_1search_1_1_brute_force.html#a78513e310fd524d01781ccf20a45e736">pcl::search::BruteForce::radiusSearch</a></div><div class="ttdeci">int radiusSearch(const PointT &amp;point, double radius, std::vector&lt; int &gt; &amp;k_indices, std::vector&lt; float &gt; &amp;k_sqr_distances, unsigned int max_nn=0) const</div><div class="ttdoc">Search for all the nearest neighbors of the query point in a given radius.</div><div class="ttdef"><b>Definition:</b> brute_force.hpp:335</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_brute_force_html_aff738c5ddff30148a11b0eef6d8eed63"><div class="ttname"><a href="classpcl_1_1search_1_1_brute_force.html#aff738c5ddff30148a11b0eef6d8eed63">pcl::search::BruteForce::nearestKSearch</a></div><div class="ttdeci">int nearestKSearch(const PointT &amp;point, int k, std::vector&lt; int &gt; &amp;k_indices, std::vector&lt; float &gt; &amp;k_distances) const</div><div class="ttdoc">Search for the k-nearest neighbors for the given query point.</div><div class="ttdef"><b>Definition:</b> brute_force.hpp:54</div></div>
<div class="ttc" id="acommon_2include_2pcl_2common_2geometry_8h_html_a2fc89f0c26b7c7377fcd2851fa933b87"><div class="ttname"><a href="common_2include_2pcl_2common_2geometry_8h.html#a2fc89f0c26b7c7377fcd2851fa933b87">pcl::geometry::distance</a></div><div class="ttdeci">float distance(const PointT &amp;p1, const PointT &amp;p2)</div><div class="ttdef"><b>Definition:</b> geometry.h:60</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_a_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGBA color.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:540</div></div>
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